Pilanesberg is a perfect destination for 1-3 nights if you want to go on a safari while visiting Johannesburg. It’s really easy to reach from Johannesburg and also has no malaria.
The drive to Pilanesberg from TAMBO International airport or Johannesburg is roughly 180 km and takes a bit more than 2 hours. When driving there, you want to prefer the main highways to be on the safe side, and drive during day time. This is always the advice I give to anyone no matter where they are driving in South Africa.
But before booking your car: remember they drive on the left!